6 Operating modes
6.9 Cyclic Synchronous Torque
6.9.1 Note regarding USB
Note
Because this controller is not equipped with a fieldbus, the following operating mode can only be used
with a NanoJ program.
You can find further information on the programming and use of a NanoJ program in chapter
Programming with NanoJ.
6.9.2 Overview
6.9.2.1 Description
In this mode, the controller passes an absolute torque preset via the fieldbus at fixed time intervals (referred
to in the following as a cycle). The controller then no longer calculates any ramps, but rather only follows the
presets.
Note
This mode only functions if closed loop is activated, see also Commissioning closed loop.
Note
The limit switches and, thus, the tolerance bands are active in this mode. For further information on
the limit switches, see Limitation of the range of motion.
6.9.2.2 Activation
To activate the mode, the value "10" must be set in object 6060
h
(Modes Of Operation) (see "CiA 402 Power
6.9.2.3 Controlword
In this mode, the bits of controlword 6040
h
have no special function.
6.9.2.4 Statusword
The following bits in object 6041
h
(statusword) have a special function:
Bit
Value
Description
8
0
The controller is not in sync with the fieldbus
8
1
The controller is in sync with the fieldbus
10
0
Reserved
10
1
Reserved
12
0
Controller does not follow the target; the preset of 6071
h
(Target Torque) is
ignored
12
1
Controller follows the target; object 6071
(Target Torque) is used as the
input for position control.
13
0
Reserved
13
1
Reserved
Version: 2.0.1 / FIR-v1650
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